CN109404676B

CN109404676B - Support device, method for manufacturing the same, and control method, apparatus, device, and medium

Info

Publication number: CN109404676B
Application number: CN201811528402.3A
Authority: CN
Inventors: 芮晓飞; 宋适宇; 彭亮
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Apollo Intelligent Technology Beijing Co Ltd
Priority date: 2018-12-13
Filing date: 2018-12-13
Publication date: 2021-07-27
Anticipated expiration: 2038-12-13
Also published as: CN109404676A

Abstract

Embodiments of the present disclosure provide support equipment for a radar (210) and methods of manufacturing the same, as well as a radar system (110) and methods, apparatus, devices and media for controlling a radar system (110). This support equipment includes: a fixture (250) for fixing the support apparatus to a target object (120); and a base (220) rotatably coupled to the mount (250) by a first surface (230A), the base (220) operable to rotate relative to the mount (250) about a first axis (X1), wherein the radar (210) is rotatably coupled to the base (220) by a second surface (230B) of the base (220), and the radar (210) is rotatable relative to the base (220) about a second axis (X2), wherein the first axis (X1) and the second axis (X2) are angled. In this way, the resolution and refresh rate of the radar (210) may be improved.

Description

Support device, method for manufacturing the same, and control method, apparatus, device, and medium

Technical Field

Embodiments of the present disclosure relate generally to the field of radar, and more particularly, to a support apparatus for radar and a method of manufacturing the same, and a radar system and a method, apparatus, device, and medium for controlling the radar system.

Background

With the increasing application range of the radar, the requirements of the radar on certain special scenes are increasing. Limited to the current radar principles and production processes, the vertical scan angular range is typically much smaller than the horizontal scan angular range, and the vertical scan angular resolution is much smaller than the horizontal scan angular resolution. For example, the vertical scanning angle range of the 16-line lidar is 30 degrees, the horizontal scanning angle range is 360 degrees, the vertical scanning angle resolution is 2 degrees, and the horizontal scanning angle resolution is 0.1 degree. Therefore, in some special scenarios, the vertical scanning capability of the radar cannot meet the measurement requirement.

Disclosure of Invention

According to example embodiments of the present disclosure, a support apparatus for a radar and a method of manufacturing the same are provided, and a radar system and a method, an apparatus, a device, and a medium for controlling the radar system are provided.

In a first aspect of the present disclosure, there is provided a support arrangement for a radar, comprising: a fixing member for fixing the support apparatus to the target object; and a base rotatably coupled to the mount by a first surface, the base operable to rotate relative to the mount about a first axis, wherein the radar is rotatably coupled to the base by a second surface of the base, and the radar is rotatable relative to the base about a second axis, wherein the first axis and the second axis are at an angle.

In a second aspect of the present disclosure, there is provided a method for controlling a radar system, the radar system comprising a radar and a support arrangement according to the first aspect of the present disclosure, the method comprising: determining a second angular velocity of the radar relative to the base about a second axis; and determining a first angular velocity of the base relative to the mount about the first axis based on the second angular velocity; and driving the base to rotate relative to the mount about a first axis at a first angular velocity and the radar to rotate relative to the base about a second axis at a second angular velocity.

In a third aspect of the present disclosure there is provided an apparatus for controlling a radar system, the radar system comprising a radar and a support arrangement according to the first aspect of the present disclosure, the apparatus comprising: a second angular velocity determination module that determines a second angular velocity at which the radar rotates relative to the base about a second axis; and a first angular velocity determination module configured to determine a first angular velocity at which the base rotates about the first axis relative to the stationary member based on the second angular velocity; and a drive module configured to drive the base to rotate relative to the mount about a first axis at a first angular velocity and the radar to rotate relative to the base about a second axis at a second angular velocity.

In a fourth aspect of the present disclosure, a method for manufacturing a support arrangement according to the first aspect of the present disclosure is provided.

In a fifth aspect of the present disclosure, there is provided a radar system comprising: a radar; and a support arrangement according to the first aspect of the disclosure.

In a sixth aspect of the present disclosure, there is provided an electronic device comprising one or more processors; and storage means for storing the one or more programs which, when executed by the one or more processors, cause the one or more processors to carry out the method according to the second aspect of the disclosure.

In a seventh aspect of the present disclosure, a computer readable medium is provided, on which a computer program is stored, which program, when executed by a processor, performs the method according to the second aspect of the present disclosure.

It should be understood that the statements herein reciting aspects are not intended to limit the critical or essential features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The above and other features, advantages and aspects of various embodiments of the present disclosure will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. In the drawings, like or similar reference characters designate like or similar elements, and wherein:

FIG. 1 illustrates a schematic diagram of an example environment in which embodiments of the present disclosure can be implemented;

FIG. 2 shows a schematic diagram of a radar system, according to some embodiments of the present disclosure;

FIG. 3 illustrates a schematic diagram of an example environment including a rotated radar system, in accordance with some embodiments of the present disclosure;

FIG. 4 illustrates a flow chart of a process for controlling a radar system, according to some embodiments of the present disclosure;

fig. 5 shows a schematic diagram of an example of a radiation area of a radar according to some embodiments of the present disclosure;

FIG. 6 shows a schematic diagram of one example of a radiation area of a rotated radar, in accordance with some embodiments of the present disclosure;

FIG. 7 shows a schematic diagram comparing the radiation area of an unrotated radar with the radiation area of a rotated radar;

fig. 8 shows a schematic block diagram of an apparatus for controlling support equipment for a radar according to an embodiment of the present disclosure; and

FIG. 9 illustrates a block diagram of a computing device capable of implementing various embodiments of the present disclosure.

Detailed Description

Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it is to be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but rather are provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the disclosure are for illustration purposes only and are not intended to limit the scope of the disclosure.

In describing embodiments of the present disclosure, the terms "include" and its derivatives should be interpreted as being inclusive, i.e., "including but not limited to. The term "based on" should be understood as "based at least in part on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first," "second," and the like may refer to different or the same object. Other explicit and implicit definitions are also possible below.

As mentioned above, in some scenarios, for example, certain long straight road scenarios, one is more concerned with the resolution of the radar within the area, and not with details outside the road. In the conventional scheme, the resolution and refresh rate of the vertical direction scanning of the radar are difficult to meet the measurement requirement. To address at least in part one or more of the above problems and other potential problems, an example embodiment of the present disclosure proposes a support apparatus for a radar, including: a fixing member for fixing the support apparatus to the target object; and a base rotatably coupled to the mount by a first surface, the base operable to rotate relative to the mount about a first axis, wherein the radar is rotatably coupled to the base by a second surface of the base, and the radar is rotatable relative to the base about a second axis, wherein the first axis and the second axis are at an angle.

From this, form certain angle between the rotation axis through the base and the axis of rotation of radar, can make the radiation range of radar take place the torsion pendulum of certain degree to improve the resolution ratio and the refresh rate of radar.

Embodiments of the present disclosure will be described below in detail with reference to the accompanying drawings. Fig. 1 illustrates a schematic diagram of an example environment 100 in which various embodiments of the present disclosure can be implemented. As shown in FIG. 1, in this example environment 100, a radar system 110 is fixed to a target object 120 on a reference plane 130. The radar system 110 includes a radar for emitting a beam 115, such as a laser, and outputting point cloud data. In addition, radar system 110 also includes support equipment for the radar. Radar system 110 is described in detail below in conjunction with fig. 2.

In the example of fig. 1, although target object 120 is shown as a rod having a height relative to reference plane 130, target object 120 may be any object capable of securing radar system 110, such as a building, a traffic light, a utility pole, a road sign, and the like. Further, the reference plane 130 may be a ground surface, but is not limited thereto. For example, the reference plane 130 may also be any object that needs to be scanned by radar (interchangeably referred to herein as "radiation"), such as a laboratory bench. In example environment 100, radar system 110 may be used to make measurements of a particular area within reference plane 130. For example, radar system 110 may be secured to roadside equipment near a road for monitoring conditions within the road. In this scenario, it is desirable to obtain more accurate information within the road while focusing less on off-road details.

Fig. 2 illustrates a schematic diagram 200 of radar system 110, according to some embodiments of the present disclosure. Radar system 110 includes a radar 210 and support equipment for radar 210. The radar 210 may be a lidar, or any radar capable of transmitting wireless signals for measurement.

As shown in fig. 2, the support apparatus for the radar 210 according to an example embodiment of the present disclosure may include: a mount 250 and a base 220. In some embodiments, mount 250 may be used to secure radar system 110 to target object 120. The distance between radar system 110 and reference plane 130 may affect the extent or size of the radiation area of radar 210 on reference plane 130. In certain embodiments, the extent of the radiation zone is proportional to the distance between radar system 110 and reference plane 130. For example, when mount 250 fixes radar system 110 to a position that is farther from reference plane 130, the range of the radiation area of radar 210 will increase. Conversely, when mount 250 fixes radar system 110 closer to reference plane 130, the range of the radiation area of radar 210 will decrease.

As shown in fig. 2, the base 220 has a first surface 230A and a second surface 230B. In certain embodiments, the base 220 is rotatably coupled to the mount 250 by a first surface 230A and is operable to rotate about a first axis X1 relative to the mount 250. For example, the base 220 may be operable to be rotatably coupled to the mount 250 about a first axis X1 via a first drive arrangement. The first drive arrangement is operable to cause base 220 to rotate relative to mount 250 about first axis X1 at a first angular velocity in response to receiving a signal for adjusting the attitude of radar system 110.

In the embodiment shown in fig. 2, the radar 210 has a central axis X2 (referred to as the second axis for ease of description) and may emit a beam, such as a laser, around the central axis X2. For example, the radar 210 may transmit the beam 214 around the second axis X2 at a scan angular range of 360 degrees (which may also be referred to as the horizontal angular range of the radar 210) about a plane perpendicular to the second axis X2. For clarity, only one cross-section of the beam 214 emitted by the radar 210 is shown in fig. 2. It should be understood that this is by way of example only and is not intended to limit the scope of the present disclosure.

The beam 214 emitted by the radar 210 has a small angular range of scanning in a direction parallel to the second axis X2 (which may also be referred to as the vertical angular range of the radar 210). For example, as can be seen in the cross-section of the beam 214 emitted by the radar 210, the vertical scan range of the radar 210 is a small acute angle 216, such as 30 degrees. As described above, due to the principles and production processes of the radar 210, the vertical angular resolution of the beam 214 emitted by the radar 210 on the reference plane 130 is limited. For example, for a 16-line lidar, the resolution is typically 2 degrees at vertical angles.

In some embodiments, radar 210 is rotatably coupled to base 220 by second surface 230B of base 220 and is operable to rotate about second axis X2 relative to base 220. For example, the radar 210 may be operable to be rotatably coupled to the base 220 about a second axis X2 via a second drive device. The second drive arrangement is operable to cause the radar 210 to rotate relative to the base 220 about the second axis X2 at a second angular velocity in response to receiving a signal measured using the radar system 110.

In the example of fig. 2, an angle 240 may be formed between the planes of the first and

second surfaces

230A, 230B of the base 220. In some embodiments, the angle 240 may be designed accordingly depending on the vertical angular resolution of the radar 210. In some embodiments, the vertical angular resolution may be an integer multiple of the angle 240. For example, for a lidar with a vertical angular resolution of 2 degrees, the angle 240 may be set to 1 degree, i.e. half the angular resolution. It should be understood that such angular settings are exemplary only. The angle 240 in fig. 2 is shown for clarity only and is not intended as a limitation on the present invention.

The radar 210 is coupled to the second surface 230B of the base, and the base 220 is coupled to the mount 250 through the first surface 230A. Due to the angle 240 formed between the first surface 230A and the second surface 230B of the base 220, an angle is also formed between the first axis X1 about which the base 220 rotates and the second axis X2 about which the radar 210 rotates. Based on such a design, when the base 220 rotates relative to the fixing member 250 around the first axis X1 at a first angular velocity and the radar 210 rotates relative to the base 220 around the second axis X2 at a second angular velocity during the scanning process of the radar 210, due to the angle existing between the first axis X1 and the second axis X2, a certain degree of torsion occurs in the scanning area of the radar 210, so that the scanning lines move in the vertical direction, and the vertical angular resolution of the radar 210 is improved. The pattern change of the radiation area of the radar 210 due to the torsion pendulum will be described in detail below.

In some embodiments, the second angular velocity at which the radar 210 rotates about the second axis X2 may correspond to the frequency of the beam transmitted by the radar 210 such that the radar 210 rotates steadily. For example, where the frequency of the beam emitted by the radar 210 is 5Hz, the rotational speed of the radar 210 may be 5 revolutions per second. In some embodiments, the second angular velocity of the radar 210 rotating about the second axis X2 may be an integer multiple of the first angular velocity of the base 220 rotating about the first axis X1 to make the torsion of the radiation area of the radar 210 more stable.

In this way, the embodiment of the present disclosure greatly improves the vertical direction scanning capability of the radar 210 by rotating the radar 210 in two degrees of freedom, such that the radiation area of the radar 210 exhibits periodic torsion. It will be appreciated that the support apparatus shown in figure 2 may be manufactured using suitable techniques known in the art.

Fig. 3 illustrates a schematic diagram of an example environment 300 including a rotated radar system, in accordance with some embodiments of the present disclosure. As shown in fig. 3, the base 220 is rotated 180 degrees relative to the initial position of fig. 1. In comparison to the initial state of the radar system of fig. 1, the radiation area of the beam 310 emitted by the radar system after the base 220 has been rotated 180 degrees relative to the mount 250 is significantly distorted relative to the initial state. It should be understood that the relatively large angle 240 between the first surface 230A and the second surface 230B is shown in the example environment 300 of fig. 3 for the purpose of clearly illustrating the wiggling of the radiating areas only, and that any other angle that can improve the vertical angular resolution may be employed by embodiments of the present disclosure.

Fig. 4 illustrates a flow diagram of a process 400 for controlling radar system 110, according to some embodiments of the present disclosure. Process 400 may be implemented by a computing device (not shown). The computing device may be embedded in radar system 110, or may be disposed outside of radar system 110 and connected to radar system 110 via a network.

At 410, the computing device may determine a second angular velocity of the radar 210 relative to the base about the second axis (X2). In some embodiments, the second angular velocity may be a fixed parameter of the radar 210 itself, and the computing device may directly obtain the second angular velocity of the radar 210. In some embodiments, the second angular velocity at which the radar 210 rotates about the second axis X2 may also correspond to the frequency of the beam transmitted by the radar 210, such that the radar 210 rotates steadily. For example, where the frequency of the beam emitted by the radar 210 is 5Hz, the rotational speed of the radar 210 may be 5 revolutions per second.

Then, at 420, the computing device determines a first angular velocity of rotation of the base about the first axis X1 based on the second angular velocity. In some embodiments, the second angular velocity of the radar 210 rotating about the second axis X2 may be an integer multiple of the first angular velocity of the base 220 rotating about the first axis X1 to make the torsion of the radiation area of the radar 210 more stable.

Subsequently, at 430, the computing device drives the base (220) to rotate relative to the mount (250) about the first axis (X1) at a first angular velocity and the radar (210) to rotate relative to the base (220) about the second axis (X2) at a second angular velocity. In this way, embodiments of the present disclosure may improve the scanning stability of the radar 210 with two degrees of freedom rotation.

The change in the radiation area of the radar 210 when the radar 210 rotates about the second axis at the second angular velocity and the base 220 rotates about the first axis X1 will be described below in conjunction with fig. 5-7. Fig. 5 shows a schematic diagram 500 of an example of the radiation area of the radar corresponding to the initial state shown in fig. 1, in which the base 220 is rotated by 0 degrees with respect to the fixing member 250.

Taking 16-line lidar 210 as an example, the trajectory of any one laser of 16-line lidar 210 projected onto reference plane 130 forms a hyperbola, 510 shown in fig. 5, thereby collectively forming a family of hyperbolas, 520 shown in fig. 5.

By establishing a local coordinate system of the reference plane 130 with the position of the target object 120 on the reference plane 130 as the origin, the hyperbola 510 can be expressed as:

Ax²+By²+Cx+Dy+Exy＝1， (1)

where X represents a distance of a point on the hyperbolic or locus from the origin in the X direction, Y represents a distance of a point on the hyperbolic or locus from the origin in the Y direction, and coefficients A, B, C, D, E are the distance between radar system 110 and reference plane 130, angle 240 between first surface 230A and second surface 230B of base 220, and the angle through which base 220 is rotated relative to mount 250:

where h represents the distance between radar system 110 and reference plane 130, θ represents an angle 240 between first surface 230A and second surface 230B of base 220, an

Indicating the angle through which the base 220 is rotated relative to the mount 250.

Therefore, the above equation (1) can be expressed as:

specifically, in the example shown in fig. 5, θ is 1 degree，

Degree, that is, equation (7) can be expressed as:

F(x,y,h,1,0)＝0。 (8)

the family of hyperbolas 520 will change when the base 220 is rotated about the first axis X1 relative to the mount 250.

In particular, fig. 6 shows a schematic diagram 600 of one example of a radiation area of a rotated radar, fig. 6 showing a family 620 of hyperbolas 610 corresponding to the state of the radar 210 shown in fig. 3, according to some embodiments of the present disclosure. In the example of fig. 6, the family of hyperbolas 620 indicates the radiation area of the radar 210 after the base 220 has been rotated 180 degrees relative to the mount 250, i.e. theta 1 degree,

degree, then equation (7) can be expressed as

F(x,y,h,1,180)＝0。 (9)

To more clearly illustrate the variation of the radiation area of the radar 210 at different rotation angles, fig. 7 further illustrates a schematic diagram comparing the radiation area of the radar without rotation with the radiation area of the radar after rotation. Specifically, the solid line in FIG. 7 indicates that the radar 210 is in

A hyperbola 510 in the state of degrees, and the dotted line indicates that the radar 210 is in

A hyperbola 610 in the state of degrees.

When the angle of the base 220 relative to the mount 250

When the scanning line changes at a constant speed, the hyperbola corresponding to the scanning line of the radar 210 generates uniform torsion and passes through the gap between the two adjacent hyperbolas, so that the scanning line generates periodic torsion. In particular toIn fig. 7, it is clearly shown that the torsion of the hyperbola 610 of the rotated radar 210 relative to the original hyperbola 510 occurs, and the new hyperbola 610 is located between the original two hyperbolas, so that the positions which are not scanned by the radar before are scanned, thereby improving the angular resolution of the radar in the vertical direction.

Fig. 8 shows a schematic block diagram of an apparatus 800 for controlling support equipment for a radar 210 according to an embodiment of the present disclosure. As shown in fig. 8, the apparatus 800 includes: a second angular velocity determination module 810 configured to determine a second angular velocity of the radar 210 rotating relative to the base 220 about the second axis X2; a first angular velocity determination module 820 configured to determine a first angular velocity at which the base 220 rotates about the first axis X1 with respect to the fixture 250 based on the second angular velocity; and a driving module 830 configured to drive the base 220 to rotate relative to the mount 250 about the first axis X1 at a first angular velocity and the radar 210 to rotate relative to the base 220 about the second axis X2 at a second angular velocity. In some embodiments, wherein the second angular velocity is an integer multiple of the first angular velocity.

Fig. 9 illustrates a schematic block diagram of an example device 900 that may be used to implement embodiments of the present disclosure. Device 900 may be used to implement a computing device that performs a method for controlling support equipment for radar 210. As shown, device 900 includes a Central Processing Unit (CPU)910 that may perform various appropriate actions and processes in accordance with computer program instructions stored in a Read Only Memory (ROM)920 or loaded from a storage unit 980 into a Random Access Memory (RAM) 930. In the RAM 930, various programs and data required for the operation of the device 900 may also be stored. The CPU 910, ROM 920, and RAM 930 are connected to each other via a bus 940. An input/output (I/O) interface 950 is also connected to bus 940.

Various components in device 900 are connected to I/O interface 950, including: an input unit 960 such as a keyboard, a mouse, etc.; an output unit 970 such as various types of displays, speakers, and the like; a storage unit 980 such as a magnetic disk, optical disk, or the like; and a communication unit 990 such as a network card, a modem, a wireless communication transceiver, or the like. The communication unit 990 allows the device 900 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.

Processing unit 910 performs the various methods and processes described above, such as process 400. For example, in some embodiments, process 400 may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 980. In some embodiments, some or all of the computer program may be loaded and/or installed onto device 900 via ROM 920 and/or communication unit 990. When loaded into RAM 930 and executed by CPU 910, may perform one or more of the steps of process 400 described above. Alternatively, in other embodiments, CPU 910 may be operable to perform process 400 in any other suitable manner (e.g., by way of firmware).

The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a load programmable logic device (CPLD), and the like.

Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

Further, while operations are depicted in a particular order, this should be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. Under certain circumstances, multitasking and parallel processing may be advantageous. Likewise, while several specific implementation details are included in the above discussion, these should not be construed as limitations on the scope of the disclosure. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single implementation. Conversely, various features that are described in the context of a single implementation can also be implemented in multiple implementations separately or in any suitable subcombination.

Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.

Claims

1. A support arrangement for a radar (210), comprising:

a fixture (250) for securing the support apparatus to a target object (120); and

a base (220) comprising a first surface (230A) and a second surface (230B) opposite the first surface (230A), and rotatably coupled to the fixture (250) by the first surface (230A), the base (220) operable to rotate relative to the fixture (250) about a first axis (X1), wherein the first axis (X1) is perpendicular to the first surface (230A),

wherein the radar (210) is rotatably coupled to the base (220) by the second surface (230B) of the base (220), and the radar (210) is rotatable relative to the base (220) about a second axis (X2), wherein the second axis (X2) is perpendicular to the second surface (230B),

wherein the first surface (230A) and the second surface (230B) form a non-zero predetermined angle therebetween such that the first axis (X1) and the second axis (X2) form respective angles, thereby enabling a torsional pendulum of a scanning area of the radar to occur when the base and the radar rotate.

2. The support apparatus of claim 1, further comprising:

a first drive device coupled to the mount (250) and the base (220) and operable to cause the base (220) to rotate relative to the mount (250) about the first axis (X1) in response to receiving a first signal; and

a second drive device coupled to the base (220) and the radar (210) and operable to cause the radar (210) to rotate relative to the base (220) about the second axis (X2) in response to receiving a second signal.

3. The support apparatus of claim 2, wherein a rotational speed of the radar (210) relative to the base (220) about the second axis (X2) corresponds to a frequency of a beam emitted by the radar (210).

4. The support apparatus of claim 1, wherein a first plane in which the first surface (230A) lies is at an angle to a second plane in which the second surface (230B) lies.

5. A method for controlling a radar system (110), the radar system (110) comprising a radar (210) and a support arrangement according to claim 1, the method comprising:

determining a second angular velocity of the radar (210) turning relative to the base (220) about the second axis (X2), the radar (210) being rotatably coupled to the base (220) by a second surface (230B) of the base (220); and

determining a first angular velocity of the base (220) turning about the first axis (X1) relative to the fixture (250) based on the second angular velocity, the base (220) being rotatably coupled to the fixture (250) by a first surface (230A); and

driving the base (220) to rotate relative to the mount (250) about the first axis (X1) at the first angular velocity and the radar (210) to rotate relative to the base (220) about the second axis (X2) at the second angular velocity,

6. The method of controlling a radar system (110) of claim 5, wherein the second angular velocity is an integer multiple of the first angular velocity.

7. An apparatus for controlling a radar system (110), the radar system (110) comprising a radar (210) and a support arrangement according to claim 1, the apparatus comprising:

a second angular velocity determination module configured to determine a second angular velocity of the radar (210) relative to the base (220) about the second axis (X2);

a first angular velocity determination module configured to determine a first angular velocity of rotation of the base (220) about the first axis (X1) relative to the fixture (250) based on the second angular velocity; and

a drive module configured to drive the base (220) to rotate relative to the mount (250) about the first axis (X1) at the first angular velocity and the radar (210) to rotate relative to the base (220) about the second axis (X2) at the second angular velocity.

8. The apparatus for controlling a radar system (110) according to claim 7, wherein the second angular velocity is an integer multiple of the first angular velocity.

9. A method for manufacturing a support arrangement according to any one of claims 1 to 4.

10. A radar system, comprising:

a radar; and

the support arrangement of any one of claims 1 to 4.

11. An electronic device, the electronic device comprising:

one or more processors; and

storage means for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to carry out the method of any one of claims 5-6.

12. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 5-6.